UMCP

To try out UMCP, follow these instructions:

Download umcp.tar.Z and uncompress it on your favorite UNIX workstation.
- You can uncompress it by doing:
```
% uncompress umcp.tar.Z
```
  which will leave umcp.tar.
- Then you can "untar" it by doing:
```
% tar xvf umcp.tar
```
  This will create a umcp directory and associated subdirectories.
Modify the load-umcp.lisp file so that the *umcp-load-dir* global gets set appropriately, based on where you installed your planner.
```
For example:

(defparameter *umcp-load-dir* "~/planners/umcp/")
```

Use an editor to look at 541-robot.lisp (at the bottom) and locate

(defun test-shakey ()

  (clear-initial-state)

  (initial-shakey-world)

  ;; additional facts for this problem.
  (initially-true

   (open-door door1-2)

   (box-inroom box1 room1)
   (box-inroom box2 room1)
   (box-inroom box3 room1)

   (robot-inroom room1)
   )

  (setf goal
        (create-tn (after (box-inroom box1 room2) n1)
                 (n1 box-inroom box1 room2)))
  )

This is the function we are going to call when running this planner.

Launch Lisp
Load the UMCP bootstrapping functions.
```
USER(1): (load "load-umcp.lisp")
```
Compile the system:
```
USER(2): (compile-umcp)
```
Switch to the UMCP package:
```
USER(3): (in-package 'umcp)
UMCP(4):
```
Load the sample Shakey domain from 541-robot.lisp and run the test code:
```
UMCP(4): (load "541-robot.lisp")
UMCP(5): (test-shakey)
UMCP(6): (search-for-plan goal)
```
Have a look at the results.